CN108045449A - Transmission mechanism applied to swing arm robot - Google Patents
Transmission mechanism applied to swing arm robot Download PDFInfo
- Publication number
- CN108045449A CN108045449A CN201810063249.5A CN201810063249A CN108045449A CN 108045449 A CN108045449 A CN 108045449A CN 201810063249 A CN201810063249 A CN 201810063249A CN 108045449 A CN108045449 A CN 108045449A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- transmission mechanism
- transmission
- robot
- synchronous pulley
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
- B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
Abstract
The present invention provides a kind of transmission mechanism applied to swing arm robot, the swing arm robot includes the babinet of centrally located part, it is set in the both sides of babinet for mobile crawler attachment, wherein transmission mechanism mainly includes Liang Tao swing arm drivings mechanism and two sets of hoofing part mechanisms.Using Multi-stage transmission, the mobility and stationarity of robot, topology layout compact and reasonable can be met by different combining forms for transmission mechanism according to the present invention；Swing arm driving axis and the sliding duplicate gear nested designs export meet the needs of medium-sized machine National People's Congress bearing capacity convenient for swing arm driving module large torque.
Description
Technical field
The present invention relates to transmission fields, and in particular to a kind of transmission mechanism applied to swing arm robot.
Background technology
At present, with the variation of the market demand, various types of specialized robots come into being, main according to forms of motion
It is divided into wheeled and caterpillar type robot.In actual condition, due to often to face severe complex environment, such as muddy, sand
The ground of the types such as soil, gully, to tackle this operating mode, then must just there be extremely strong power and cross-country power in robot.It carries out
Belt is more wheeled more to embody the superiority of itself.
Caterpillar type robot type is also relatively more, and caterpillar type robot medium-sized at present is mostly without swing arm structure, obstacle detouring energy
Power is general, to further improve the obstacle climbing ability of medium-sized caterpillar type robot, need to increase swing arm driving mechanism.It is carried out for double-pendulum arms
For carrying machine people, walking and swing arm totally four sets of driving transmission devices can occupy the space of chassis preciousness, and increase system of robot
How weight, the volume of system plan as a whole the transmission device of layout walking and swing arm from design, how to realize that heavy load drives and chases after
Ask simplify the structure, lightweight, be Robot Design field problem.
In view of this, it is necessary to be improved to the prior art, to meet the transmission to being similar to swing arm robot at present
The requirement of mechanism.
The content of the invention
The technical problems to be solved by the invention be overcome the deficiencies of the prior art and provide one kind can be on complex road surface
Powered travel has the swing arm transmission mechanism of robot compared with high maneuverability and stronger obstacle climbing ability, and the mechanism structure is compact, cloth
Office rationally, stable drive, powerful, for medium-sized crawler type ground mobile robot driving device provide new mentality of designing and
Scheme.
To achieve the above object, invention provides following technical solution：
A kind of transmission mechanism applied to swing arm robot, the swing arm robot include the case of centrally located part
Body is set in the both sides of babinet for mobile crawler attachment.
Further, transmission mechanism mainly includes Liang Tao swing arm drivings mechanism and two sets of hoofing part mechanisms, two sets of walkings
Driving mechanism opposed swing arms driving mechanism is arranged symmetrically.
Further, often covering the swing arm driving mechanism includes swing arm drive device, swing arm driving axis, swing arm track drive
Wheel, swing arm set and swing arm arrangements；
Further, often covering the hoofing part mechanism includes DC brushless motor, gearbox, planetary reducer, umbellule
Gear, large bevel gear, the sliding duplicate gear, speed reducer fixed seat and traveling crawler driving wheel.
Description of the drawings
Fig. 1 is the structure diagram provided by the present invention for swing arm transmission mechanism of robot；
Fig. 2 is the partial schematic diagram provided by the present invention for swing arm transmission mechanism of robot；
Fig. 3 is the broken section enlarged drawing provided by the present invention for swing arm transmission mechanism of robot；
Fig. 4 is the gearbox designs schematic diagram provided by the present invention for swing arm transmission mechanism of robot.
Reference numeral：
1- babinets；2- swing arm drive devices；3- swing arm driving axis；4- large bevel gears；5- swing arm crawler belts；6- cone pinions；
7- traveling crawlers；8- gearboxes；9- planetary reducers；10- DC brushless motors；11- speed reducer fixed seats；12- hoofing parts
Axis；13- bearing blocks；14- traveling crawler driving wheels；15- swing arm crawler driving whells；16- swing arm sets；17- swing arm arrangements.
(pay attention to：Shown structure in attached drawing is simply to illustrate that the signal of inventive features, is not intended to according to shown in attached drawing
Structure.)
Specific embodiment
As shown in Figure 1, the transmission mechanism according to the present invention applied to swing arm robot, applied to movement
Function swing arm robot.
In one embodiment, the swing arm robot includes the babinet 1 of centrally located part, in the both sides of babinet 1
It sets for mobile crawler attachment.The crawler attachment includes four swing arm crawler belts 5 and two traveling crawlers 7.
Wherein, the transmission mechanism applied to swing arm robot mainly includes Liang Tao swing arm drivings mechanism and two sets of walkings are driven
Motivation structure.
In one embodiment, as shown in Figure 1,3, the swing arm driving mechanism includes swing arm drive device 2, swing arm driving
Axis 3, swing arm crawler driving whell 15, swing arm set 16 and swing arm arrangements 17.
Wherein, swing arm drive device 2 includes worm-gear speed reducer and driving motor, is encapsulated in housing, Ke Yiti
For larger output torque.
Swing arm driving axis 3 is connected to the both sides of swing arm drive device 2, and swing arm set 16 is for transition connection swing arm driving axis 3
With swing arm arrangements 17.17 outside of swing arm arrangements is nested with swing arm crawler belt 5, and swing arm crawler belt 5 is driven by swing arm crawler driving whell 15
Transmission.
As shown in Figs. 1-3, the hoofing part mechanism includes DC brushless motor 10, gearbox 8, planetary reducer 9, small
Bevel gear 6, large bevel gear 4, the sliding duplicate gear 12, speed reducer fixed seat 11 and traveling crawler driving wheel 14.
Wherein, DC brushless motor 10 is located at the top of gearbox 8, as the input terminal of first order transmission, planetary reduction gear
Machine 9 is located at the lower part of gearbox 8, and as the output terminal of first order transmission, input shaft is arranged in parallel up and down with output shaft, Ke Yichong
Divide the space using babinet 1.
Further, gearbox 8 is the primary transmission structure being driven of walking, and can pass through clutch and switch realization height
Speed.The input terminal of planetary reducer 9 is connected with the output terminal of gearbox 8, and output terminal passes through key connection, composition with cone pinion 6
The secondary transmission of walking transmission.
Large bevel gear 4, in the sliding duplicate gear 12, is engaged by key connection with cone pinion 6 in 90 °, composition walking transmission
Three-level transmission.The sliding duplicate gear 12 drives traveling crawler driving wheel 14 to rotate, and then traveling crawler 7 is driven to be driven.
In one of the embodiments, the structure based on above-mentioned introduction, two sets of hoofing part mechanism opposed swing arms drive
Motivation structure is arranged symmetrically.
As shown in figure 3, wherein, the sliding duplicate gear 12 by a pair of of roller bearings in bearing block 13, bearing block 13
The both sides of babinet 1 are fixed on, by roller bearings in the sliding duplicate gear 12, the sliding duplicate gear 12 is swing arm driving axis 3
Hollow design.
In this application, the gearbox 8 is the core component in hoofing part mechanism, can independently realize height notch speed
Degree switching.
In one embodiment, as shown in figure 4, gearbox 8 includes housing, be arranged in parallel the first transmission shaft 85 in housing
With second driving shaft 810.
Shaft coupling 81, the first synchronous pulley 82, the second synchronous pulley 83 and first are set gradually on the first transmission shaft 85
Clutch 84.
Second clutch 811, the 3rd synchronous pulley 88 and the 4th synchronous pulley are set gradually on second driving shaft 810
89。
First synchronous pulley 82 is sequentially connected by the first synchronous belt 87 with the 3rd synchronous pulley 88, the second synchronous pulley 83
It is sequentially connected by the second synchronous belt 86 with the 4th synchronous pulley 89.
Input terminal of first transmission shaft 85 as gearbox 8 is connected to DC brushless motor 10 by shaft coupling 81, and second
Output terminal of the transmission shaft 810 as gearbox 8, is connected with the input terminal of planetary reducer 9.
Wherein, it is made of the first synchronous pulley 82, the first synchronous belt 87, the 3rd synchronous pulley 88 and second clutch 811
Top gear forms bottom gear by the second synchronous pulley 83, the second synchronous belt 86, the 4th synchronous pulley 89 and clutch 84.
When first clutch 84 is attracted, and second clutch 811 disconnects, gearbox 8 realizes low speed rotation, otherwise realizes high
Speed transmission.
Transmission mechanism according to the present invention applied to swing arm robot, transmission process are：
1) hoofing part mechanism is total to three-level transmission, and afterbody transmission driving traveling crawler driving wheel 14 rotates, then band
Dynamic traveling crawler 7, and the rear portion driven wheel for passing to babinet 1 will be rotated, and then realize robot in ground running.
2) when two driving mechanisms in left and right are differential, it can realize that robot turns to.
3) totally two sets of swing arm drive device 2, are arranged in the front and rear of babinet 1, are controlled per covering device by swing arm driving axis 3
Two swing arm arrangements 17 of system rotate, and realize the climbing obstacle crossing function of robot.
Transmission mechanism according to the present invention applied to swing arm robot is applied to swing arm machine with traditional
The transmission mechanism of people is compared, and is had the characteristics that：
(1) Multi-stage transmission is used, the mobility and stationarity of robot, structure can be met by different combining forms
Compact in design is reasonable；
(2) swing arm driving axis and the sliding duplicate gear nested designs, in being exported convenient for swing arm driving module large torque to meet
The demand of humanoid robot large bearing capacity.
The above, the preferred embodiment only invented are not intended to limit the protection domain of invention, all to invent
Spirit and principle within all any modification, equivalent and improvement made etc., should be included within the protection domain of invention.
Claims (10)
1. a kind of transmission mechanism applied to swing arm robot, the swing arm robot includes the babinet of centrally located part
(1), set in the both sides of babinet (1) for mobile crawler attachment, it is characterised in that：
Transmission mechanism mainly includes Liang Tao swing arm drivings mechanism and two sets of hoofing part mechanisms, and two sets of hoofing part mechanisms are opposite to put
Arm driving mechanism is arranged symmetrically；
Wherein, often covering the swing arm driving mechanism includes swing arm drive device (2), swing arm driving axis (3), swing arm crawler driving whell
(15), swing arm set (16) and swing arm arrangements (17)；
Often covering the hoofing part mechanism includes DC brushless motor (10), gearbox (8), planetary reducer (9), cone pinion
(6), large bevel gear (4), the sliding duplicate gear (12), speed reducer fixed seat (11) and traveling crawler driving wheel (14).
2. the transmission mechanism according to claim 1 applied to swing arm robot, it is characterised in that：
The crawler attachment includes four swing arm crawler belts (5) and two traveling crawlers (7).
3. the transmission mechanism according to claim 2 applied to swing arm robot, it is characterised in that：
The swing arm drive device (2) includes worm-gear speed reducer and driving motor, is encapsulated in housing, can provide compared with
Big output torque.
4. the transmission mechanism according to claim 3 applied to swing arm robot, it is characterised in that：
Swing arm driving axis (3) is connected to the both sides of swing arm drive device (2), and swing arm set (16) connects swing arm driving axis for transition
(3) and swing arm arrangements (17)；
Swing arm crawler belt (5) is nested on the outside of swing arm arrangements (17), by swing arm crawler driving whell (15) swing arm crawler belt (5) is driven to pass
It is dynamic.
5. the transmission mechanism according to claim 4 applied to swing arm robot, it is characterised in that：
DC brushless motor (10) is located at the top of gearbox (8), as the input terminal of first order transmission, planetary reducer (9)
Positioned at the lower part of gearbox (8), as the output terminal of first order transmission, input shaft is arranged in parallel up and down with output shaft, Ke Yichong
Divide the space using babinet (1).
6. the transmission mechanism according to claim 5 applied to swing arm robot, it is characterised in that：
The input terminal of planetary reducer (9) is connected with the output terminal of gearbox (8), and output terminal is connected with cone pinion (6) by key
It connects, the secondary transmission of composition walking transmission.
7. the transmission mechanism according to claim 6 applied to swing arm robot, it is characterised in that：
Large bevel gear (4), in the sliding duplicate gear (12), is engaged by key connection with cone pinion (6) in 90 °, and composition walking passes
Dynamic three-level transmission；
The sliding duplicate gear (12) drives traveling crawler driving wheel (14) to rotate, and then traveling crawler (7) is driven to be driven.
8. the transmission mechanism according to claim 7 applied to swing arm robot, it is characterised in that：
For the sliding duplicate gear (12) by a pair of of roller bearings in bearing block (13), bearing block (13) is fixed on babinet (1)
Both sides, by roller bearings in the sliding duplicate gear (12), the sliding duplicate gear (12) is set swing arm driving axis (3) to be hollow
Meter.
9. the transmission mechanism according to claim 8 applied to swing arm robot, it is characterised in that：
Gearbox (8) includes housing, and be arranged in parallel the first transmission shaft (85) and second driving shaft (810) in housing；
Set gradually on the first transmission shaft (85) shaft coupling (81), the first synchronous pulley (82), the second synchronous pulley (83) and
First clutch (84)；
Second clutch (811), the 3rd synchronous pulley (88) and the 4th synchronous pulley are set gradually on second driving shaft (810)
(89)；
First synchronous pulley (82) is sequentially connected by the first synchronous belt (87) and the 3rd synchronous pulley (88), the second synchronous pulley
(83) it is sequentially connected by the second synchronous belt (86) and the 4th synchronous pulley (89)；
Input terminal of first transmission shaft (85) as gearbox (8) is connected to DC brushless motor (10) by shaft coupling (81),
Output terminal of the second driving shaft (810) as gearbox (8), is connected with the input terminal of planetary reducer (9).
10. the transmission mechanism according to claim 4 applied to swing arm robot, it is characterised in that：
Height is formed by the first synchronous pulley (82), the first synchronous belt (87), the 3rd synchronous pulley (88) and second clutch (811)
Speed gear forms low speed by the second synchronous pulley (83), the second synchronous belt (86), the 4th synchronous pulley (89) and clutch (84)
Gear；
When first clutch (84) is attracted, and second clutch (811) disconnects, gearbox (8) realizes low speed rotation, otherwise realizes
High-speed drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810063249.5A CN108045449A (en) | 2018-01-23 | 2018-01-23 | Transmission mechanism applied to swing arm robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810063249.5A CN108045449A (en) | 2018-01-23 | 2018-01-23 | Transmission mechanism applied to swing arm robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108045449A true CN108045449A (en) | 2018-05-18 |
Family
ID=62127738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810063249.5A Pending CN108045449A (en) | 2018-01-23 | 2018-01-23 | Transmission mechanism applied to swing arm robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108045449A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436112A (en) * | 2018-12-30 | 2019-03-08 | 杭州白泽方舟科技有限公司 | Cterpillar drive and barrier-surpassing robot |
| CN113276083A (en) * | 2021-06-09 | 2021-08-20 | 哈工大机器人（合肥）国际创新研究院 | Wheel-tracked mobile robot |
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| CN1861333A (en) * | 2006-06-13 | 2006-11-15 | 沈阳瑞琦特种机器人自动化有限公司 | Means for driving active turning-up crawler robot to walk |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436112A (en) * | 2018-12-30 | 2019-03-08 | 杭州白泽方舟科技有限公司 | Cterpillar drive and barrier-surpassing robot |
| CN113276083A (en) * | 2021-06-09 | 2021-08-20 | 哈工大机器人（合肥）国际创新研究院 | Wheel-tracked mobile robot |
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Effective date of registration: 20200903 Address after: 230601 503, building 2, area C, intelligent equipment science and Technology Park, east of Susong road and north of Guanhai Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Hefei Hagong te'an Intelligent Technology Co., Ltd Address before: 230601 Qinghua Road, Qinghua Road, Hefei, Anhui Province, building No. 5 Applicant before: HRG INTERNATIONAL INSTITUTE FOR RESEARCH & INNOVATION |
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